Precision Drive And Active Vibration Isolation Research Of Multi-degrees Freedoms Of Magnetostrictive Platform

In the precision and aerospace engineering field, how to realize the precision drive positioning or the environmental vibration isolation of high precision instruments and equipment is a very critical problem. In order to solve the high precision drive or micro vibration isolation, we discuss kinds of the technologies of drive control and have realized the simulation and test verification of these algorithms including feedforward control, adaptive predictive control containing dynamic feedforward compensation and so on. At last, we realize a precision drive control and the active vibration isolation of the multi-degrees freedoms platform.The article mainly contains the following aspects:(1) We use kinds of control algorithms to realize the drive control of single-degree of freedom magnetostrictive actuator including PID feedback control with feed-forward compensation, minimum variance self-tuning regulator, indirect generalized minimum variance self-tuning control and generalized predictive adaptive control. Through the simulation and test of these control algorithms, we propose a new control method named the adaptive control containing the dynamic feed-forward compensation. And this new control method can realize the precision drive control of the actuator and the active vibration isolation which have been proved by simulation and experimental tests.(2) We build a new control system based on ARM embedded system and carry on the experiment of open loop and closed loop control. By the ARM control system, we can effectively improve the calculation speed and the working frequency band of the magnetostrictive actuator.(3) We also complete the dynamic modeling and the simulation of the precision platform and complete the dynamic response simulation and the vibration isolation control simulation of multi degrees of freedoms platform through the ADAMS and SIMULINK.(4) At last, we complete the decoupling control of 3-dof platform based on the generalized predictive adaptive control with dynamic feedforward compensation and also complete the experiment verification. And we also realize the system identification and adaptive control based on least square method and CARMA model, finally realize high precision positioning and the active vibration isolation of the 3-dof platform.